Roboseum
1.0.0
gitbook1.0.0
1.0.0
gitbook1.0.0
  • Roboseum
  • Robots
    • Modular Snake
    • Atlas
    • ANYdrive
    • ASIMO
    • ASIMO
    • Cassie
    • SpotMini
    • Ocean One
    • T-HR3
    • aslteam
    • SEA-Snake
    • OC Robotics Snake Arm Robot
    • Aibo
    • IMPASS
    • NABiRoS
    • Giacometti Arm with Balloon Body
    • CoBot
    • Fetch机器人平台
    • Salto
    • ASIMO
    • GUARDIAN S
    • ANYmal
    • BALLU
    • Robonaut2
    • Fusion-远程操作的寄生机器人
    • Epson SCARA Robot Overview
    • HERMES 遥操作机器人
    • Laikago
    • Gila Monster
    • Electrick
    • E2-DR
    • MIT Cheetah
    • Snake Monster
  • Sensors
    • 霍尔 Hall effect sensor
    • 编码器 Encoder
    • RGBcamera
    • IMU
    • Laser
    • 学习型描述子
    • DepthCamera
    • EventCamera
    • 旋转变压器 Resolver
  • Software
    • Algorithms
      • Mobility
        • Aerial Robotics
          • PX4
          • Planning
          • Geometry
          • Control
          • Mechanics
        • LeggedMobility
        • Bioinspiration
        • Templates
        • MechanicalDynamicalSystems
      • Motion Planning
        • Visibility Graph
          • Configuration Space
        • Rapid Exploring Random Trees
          • Rapid Exploring Random Trees
        • Probablistic Road Map
          • Probablistic Road Map
        • Trapezoidal Decomposition
          • Trapezoidal Decomposition
        • Sample Based Planners
          • Characteristics of Sample Based Planners
        • MoveIt
      • Perception
        • Localization and Mapping
          • Principle
            • localization
              • odometry
                • Odometry Modeling
                  • Odometry Modeling(里程计模型)
                • 视觉里程计 Visual Odometry
              • Iterative Closest Point
                • Iterative Closest Point (ICP 迭代最近邻)
              • Optical Flow （光流跟踪）
              • Particle Filter (粒子滤波)
            • 回环检测 Loop CLosing
            • mapping
              • Occupancy Grid Mapping
                • Occupancy Grid Mapping(占用栅格地图构建)
              • Map Registration
                • Map Registration(地图配准)
              • 3D Mapping
                • 3D Mapping
              • mapping
                • Mapping(建图)
            • Optimization in Mapping（优化在建图中的应用）
          • Project
            • ORBSlam
            • Dense Visual Odometry
            • LSDslam
            • Semi-Direct Monocular Visual Odometry
          • Dataset
            • TUM
            • KITTI
        • Basics
          • Single View Geometry
          • Camera Modeling
          • Point and Line Duality
          • Pinhole Camera Model
          • Perspective Projection
        • Recognition
          • CNNs
      • Learning
        • Estimation
          • ParticleFilters
          • TargetTracking
          • Kalman Filter
          • MaximumLikelihoodEstimate
            • 极大似然估计
    • Simulator
      • Gazebo
      • Airsim
      • VizDoom
      • Rviz
    • Library
      • PCL
      • OpenCV
      • OpenGL
  • Actuators
    • Floating Spring Joint
    • A Detailed Look into SEA(Serial Elastic Actuator)
    • MIT Optimal Actuator Design
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  1. Software
  2. Algorithms
  3. Perception
  4. Localization and Mapping
  5. Principle
  6. localization

Particle Filter (粒子滤波)

PreviousOptical Flow （光流跟踪）Next回环检测 Loop CLosing

Last updated 6 years ago

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这是Map Registration地图配准的最常用算法。基于采样和概率模型。先随机采样一些在均值附近的位姿，然后跟踪这些点随里程计的运动过程，在跟踪过程中进行优化、过滤，得出最可能的位姿。详情可参考这篇博客园的

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